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i had trouble with plan B, the heat wasnt enough. i also had bad luck with the impact driver. i found an impact drill works the best. turn the bolt into a flat head and get a 5/16 head and use an impact drill.
I think part of the problem with the impact driver is that alot of people think you just have to smack it. Actually, you gotta apply some torque in the direction you need it to go, then smack it.